After developing the methods for computing the power, I did some experiments to see how well my calculations match reality.
Somewhat surprisingly, despite the approximations/simplifications I made in my calculations, the predicted power consumption were pretty close to actual values.
I did a total of 4 experiments, using setups of various complexities; all predicted values were within 15% range from the actual values, and for the simpler cases, where I did not need to use as many approximations, the predictions were so good that the error was less than 5%.
I have written up my theory and my experiments in the. For the sake of better formatted equations, I decided that I will leave the main content of this post in the attached PDF file.
- robotPower.pdf
- Estimating Robot Power Consumption: Theory and Experiment
- (2.3 MiB) Downloaded 104 times
And these are the blueprints for the experiments used in the article:
- Experiment 1: 0eNqVld2umzAMx98l13BEaEs/nuJo2t00RSG4bTRIWD5YUcW7z4FTVqmhE1cocfj5bzt27qSsPbRGKkdOdyKFVpacftyJlRfF67Dn+hbIiUgHDUmI4k1YGV3qVhtHhoRIVcGNnOjwMyGgnHQSJsa46JnyTQkGD8x/CwPcyQ7SRleQnuWNcTGuoQbhjBQpKDCXPkVZYM5cQKq9a71DAa226EGrIA29pkVCevzkdBiSF5f5G5fWt2BS60vr+Ah8ZdOP3USnh49djL+Z+VKdpUJTKq5gIzq/ZNJiTNh0lllwTqqLDWcMNLoD5tFWY9BQsZBxNJ15bSEh0/aU2IdPo1Xa1twB+hPahxrSLEtIiBHtcMO01j15LlEsiu0cBaZC/MKsWzDobDmKaDJ2M6bWF2kdlnFMRtpya0PqW6M7Wb3jbmPc4vXWvQB2c6VovFL7NZB9nHFYw9jEGccVjCyOoNkKxnaBQVcwFi4/zVcwaL4A2ayBFAuQtTc4z4bQMcoZXbMSrryT2oQTQhrhpWOhg5g+M40zYpoOodcfVpwlFbtyVbHAQDHYls54iGpbbAsDvz1+l1XSI6r8OsWe+//Rzsl/JkGG/R5RVLyZip2W1T9l76dZmLk488eX4fT0kCSk5iXg40G+YUndp/4D5jtyKFo6jGHkFId9nh/oMdvnw/AXSmMyiA==
Experiment 2: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
Experiment 3:0eNrNmduOmzAQht+Fa6iwjTHkKaqqd9UqIsRJrRKgHNKuVnn3mrDAVvXEM1tV6tUusfkYj//xeOyX4FCNuu1MPQS7l8CUTd0Huy8vQW/OdVFNvw3PrQ52gRn0JQiDurhMT11zaNqmG4JbGJj6qH8GO3Z7CgNdD2YwembcH5739Xg56M52+PPtMGib3r7Q1NOXLCRKkg8yDJ7tf1x+kLdb+AeGIzDSBxEYiJeSrJSDOUe60uXQmTJqm0o/Hhp38ySJx9TKE25eSuFJn3WKQuOZD5eRjPNal2PUJVarWOzGsBjDkWLhKACDE/s6qgzAbGLvx0M/FPe3HePyggQOJGPfwIiaz3w8iXIUWzApgEkxGJ77MArnpi30oGFlNBkBAcw2VVtjym+RqXvdDbbJNXWvQ7NL8tF0dl7ujalrCd1EXjVn0w92Asuvuh+iTn8f7V/3B9j2gdd++5OpbOd5uV/ywMo2XVNHbVUMkzLKZpxyjIzj25PLpO21stPW71cdXZqjjk7m5/7amONm2myqSyX5YqDrA1soXfTRjBeEdmecOwsJKk7kj3DJ3w9fqEfDl3glidSpJO7Cpu9RkpD/UkmKPDPi0cygIjlZVxYgPfGclhAAjIhpyyWEQaUnoXwYjsIIH0bQFm8Ik6AwXhejMhL3uhiVkZjXxQqF8boYpWKvh1Ei9jk4QWnY59+EoVI1XzDAfi9BSXjdxjCAIki1DURBCTiJPRSUfkXqoaDkK7iHglIv93kXJV7u8y5KvNzjXYkTr8e7ErX+Mo93JUq7HudKnHQ9EJRyfa6V76oIga2zTEmBDVT4UpECG6JkpMCGKDkpsAFKGpMCG6IwUmBDFE4KbIgiSIENURJSYEMUSQpsiJJSAhuCKEpgQ5CMEtgQJH9Q3BTl/XmNdl3r7vxsyxNbDZyKUkfNOLSjc58x1zu5v0pRMb744XMZzWJ/Ga3eFCj1ydS2DSzOONuwS+d9r4fB1Od+6tTpS3PV+7GeCyF93E8nrrbpVFS9DoO39dGDqojF1v7Juba9GKJKF3dztjNa58keh6q4tuj7aXrarrmao9NhLF9G5iILQtk5c9jvjk9c1OQv7BWPzJWoTeWaDYFNpSIdvEZy2esy6OQVeSy1VloMSIoqw4G4F5RTi2ymXofoPAuOcXblHrMyRjYrfmQW+cxoMc9JE/jlQixW/YerRZYgz5JXWQN5IZPkk5qZ5zzhylIibV6RuXMhyNR7rk44sLPN3nfXAeJy0qZ02j85b0xiwk0aCGGUoYlFEtCNVc4pF3OzUU/hfDm5e3OXGQZVcdCV/e2TxQwfmx+6+2xDTdiWqw2MOadnivOM5bGy0f8LXzdtwQ==
Experiment 4: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